These figures represent occupancy probabilities of cells after updating each ray
to the octree-based occupancy map representation using each update method.
This figure shows a concept of super ray, which is a representative ray to rays
travering the same cells of map representation.

The left figure shows the indoor dataset. The right figure shows the update speed of two update methods according to various resolution.
Our method shows from 1.6 to 3.2 times higher performance over the prior method.

This video shows the result using the outdoor dataset.

Abstract

We present a novel approach, Super Ray, for
efficiently updating map representations such as grids and
octrees with point clouds. In this paper, we define a super ray
for points as a representative ray to them with an associated
frustum. A super ray is constructed in a way that updating
those points has the same set of cells accessed during the
map update process. As a result, we can perform the update
process with a super ray in a single traversal on the map,
resulting in performance improvement without compromising
any representation accuracy of the map. For constructing super
rays efficiently, we propose mapping lines for handling 2-D
and 3-D cases from an observation that edges or grid points
branch out the access pattern of updating the map. Our method
is general enough to be applied for variety of occupancy
map structures based on axis-aligned space subdivisions such
as grids and octrees. We test our method into indoor and
outdoor benchmarks, and achieve 2.5 times on average (up to
3.5 times) performance improvement over the state-of-the-art
update method for OctoMap and grid maps.